Vehicle corner modules and vehicles comprising them

ABSTRACT

A vehicle corner module (VCM) is provided for regulating motion of a host vehicle which comprises a vehicle-onboard vehicle-controller. The VCM comprises a sub-frame mountable to a reference frame of the host vehicle; a wheel-hub assembly comprising a wheel-hub; VCM-sub-systems mediating between the sub-frame and the wheel-hub assembly, e.g., a drive subsystem, a steering subsystem, a suspension subsystem and/or a braking subsystem; and an VCM-onboard VCM-controller, comprising one or more processors and a computer-readable medium storing program instructions that, when executed by the one or more processors, cause the one or more processors to establish a communication link with a vehicle-controller, including electronically transferring information about the VCM from the VCM-controller to the vehicle-controller, and to perform, in response to an installation of the VCM on a vehicle, a post-installation validation-process that includes validating the VCM-subsystems and communicating a result of the validating to the vehicle-controller.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of US application Ser. No.17/335,983 which was filed on Jun. 1, 2021, and which is incorporatedherein by reference in its entirety. This patent application is also acontinuation of PCT/IB2020/062598 which was filed on Dec 31, 2020, andwhich is incorporated herein by reference in its entirety.PCT/IB2020/062598 claims the benefit of U.S. Provisional PatentApplication No. 62/956,358, filed on Jan. 2, 2020, which is incorporatedherein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to vehicle corner modules (VCMs) forregulating motion of host vehicles, and particularly to VCMs comprisingonboard mechanical and electrical sub-systems of the VCMs.

BACKGROUND

Onboard vehicle systems have been developed and improved over the courseof more than a century, resulting in sophisticated designs thatintegrate and centralize the management of the various mechanical andelectrical sub-systems. Available control systems are limited tomanaging individual functionalities and do not integrate or combine themanagement of multiple sub-systems.

Newly-conceived vehicle platforms designed for electric propulsion caninclude modular axle-less wheel assemblies (“vehicle corner modules, orVCMs) requiring independent suspension, drivetrain, braking and steeringsub-systems installed at individual wheels. These designs require newmechanical and electronic solutions for executing, at each wheel,externally-generated operating instructions with regards to the localsub-systems. New control models are required for managing not only theregular operation of the integrated wheel systems but also servicing,testing and administration functions.

SUMMARY

According to embodiments of the invention, a vehicle corner module (VCM)is disclosed for regulating motion of a host vehicle, wherein thevehicle comprises a vehicle-onboard vehicle-controller, and the VCMcomprises: (a) a sub-frame mountable to a reference frame of the hostvehicle; (b) a wheel-hub assembly comprising a wheel-hub; (c) aplurality of sub-systems mediating between the sub-frame and thewheel-hub assembly, the plurality of subsystems selected from the groupof subsystems consisting of a drive subsystem, a steering subsystem, asuspension subsystem and a braking subsystem; and (d) an VCM-onboardVCM-controller, comprising one or more processors and acomputer-readable medium storing program instructions that, whenexecuted by the one or more processors, cause the one or more processorsto carry out the following steps: (i) establish a communication linkwith a vehicle-controller, wherein the establishing includeselectronically transferring information about the VCM from theVCM-controller to the vehicle-controller, and (ii) perform, in responseto an installation of the VCM on a vehicle, a post-installationvalidation-process that includes validating the plurality of subsystemsand communicating a result of the validating to the vehicle-controller.

In some embodiments, the establishing of the communication link with thevehicle-controller can be before the installation.

In some embodiments, post-installation operation of the vehicle can becontingent upon receiving a positive validation-process result.

In some embodiments, the computer-readable medium can additionallycontain program instructions that, when executed by the one or moreprocessors, cause the one or more processors to regulate, in response toincoming electrical signals received from outside the VCM, actuation ofat least one sub-system of the plurality of sub-systems.

In some embodiments, the information about the VCM transferred from theVCM-controller to the vehicle-controller can include information aboutat least one of the plurality of subsystems.

In some embodiments, it can be that the communication link with thevehicle-controller is a two-way link, and/or that the establishing ofthe communication link additionally includes receiving information aboutthe vehicle, and/or about another VCM installed on the vehicle.

In some embodiments, the computer-readable medium can additionallycontain program instructions that, when executed by the one or moreprocessors, cause the one or more processors to exchange informationwith an onboard controller of another VCM installed on the vehicle.

In some embodiments, the information about the VCM can include resultsof a self-diagnostic test carried out before the installation.

In some embodiments, the information about the VCM can include at leastone of operating history and maintenance history of the VCM.

In some embodiments, the validating of the plurality of subsystems caninclude receiving information from one or more sensors onboard the VCM.

In some embodiments, the computer-readable medium can additionallycontain program instructions that, when executed by the one or moreprocessors, cause the one or more processors to the determine anoperating profile for the VCM based on data received from thevehicle-controller.

In some embodiments, the selected plurality of sub-systems comprises atleast three sub-systems. In some embodiments, the selected plurality ofsub-systems comprises four sub-systems.

In some embodiments, a vehicle can comprise: (a) one or more pairs ofopposing VCMs according to any one of the VCMs described above; (b) avehicle-controller; and/or (c) a communications bus for electroniccommunication between the vehicle-controller and the respectiveVCM-controller of each of the VCMs.

In some embodiments, a vehicle can comprise: (a) one or more pairs ofopposing VCMs according to any one of the VCMs described above; (b) avehicle-controller; and (c) a communications bus for electroniccommunication between the respective VCM-controllers of at least onepair of the one or more pairs of opposing

VCMs. In some such embodiments, the communications bus can beadditionally for electronic communication between the respectiveVCM-controllers of at least one pair of the one or more pairs ofopposing VCMs.

In some embodiments, an apparatus for use in offline testing of a VCMwhen the VCM is mechanically decoupled from any vehicle, the VCM beingany one of the VCMs described above, can comprise: (a) a support elementfor at least partly supporting the weight of the sub-frame and forconstraining movement of the sub-frame; (b) at least one diagnosticdevice for measuring operational data of at least one of the pluralityof subsystems, and/or (c) a computing device configured to communicatewith the VCM-controller and receive therefrom diagnostic informationrelated to the offline testing, wherein the offline testing can includea functional test of at least one of the plurality of subsystems.

In some embodiments, a method of operating a vehicle according to anyone the vehicle embodiments disclosed above can comprise: controlling,by a VCM-controller, actuation of one or more sub-systems of theplurality of subsystems of a VCM, in response to an incoming electricalinput from outside the VCM.

A method is disclosed, according to embodiments, of replacing a firstvehicle corner module (VCM) with a second VCM, wherein each of the firstand second VCMs comprise a sub-frame mountable to a reference frame of avehicle, a wheel-hub assembly, a VCM-onboard VCM-controller, and aplurality of subsystems mediating between the sub-frame and thewheel-hub assembly and selected from the group of subsystems consistingof a drive subsystem, a steering subsystem, a suspension subsystem and abraking subsystem. The method comprises the following steps: (a)establishing an electronic communication link between the respectiveVCM-controller of the second VCM and a vehicle-onboardvehicle-controller, wherein the establishing includes transferringinformation about the second VCM from the respective VCM-controller tothe vehicle-controller; (b) in response to and contingent upon aninstallation of the second VCM on the vehicle, completing apost-installation validation that includes validating the respectiveplurality of subsystems of the second VCM and communicating a result ofthe validation to the vehicle-controller; and (c) using the communicatedresult of the validation to enable or disable post-installationoperation of the vehicle.

In some embodiments, the method can additionally comprise the step oftransmitting, to a permission system in an external computer,information about the replacing of the first VCM with the second VCM. Insome such embodiments, the method can additionally comprise the step ofreceiving, from the permission model, a permission based on a servicesubscription, and/or the step of receiving, from the permission model, apermission based on a transaction.

In some embodiments, the information transmitted to the permissionsystem can include at least two of: respective identifying informationof the first and second VCMs; usage information of one or more of therespective plurality of subsystems of the first VCM; and maintenanceinformation of one or more of the respective plurality of subsystems ofthe first VCM.

In some embodiments, a value can be assigned to the replacing based onat least one of: usage information of one or more of the respectiveplurality of subsystems of the first VCM; usage information of one ormore of the respective plurality of subsystems of the second VCM;maintenance information of one or more of the respective plurality ofsubsystems of the first VCM; and maintenance information of one or moreof the respective plurality of subsystems of the second VCM.

In some embodiments, the method can additionally comprise the step ofdetermining an operating profile for the second VCM based on informationreceived from the vehicle-controller.

In some embodiments, the electronic communication link between therespective VCM-controller of the second VCM and the vehicle-onboardvehicle-controller can be established before the installation.

In some embodiments, it can be that the electronic communication linkwith the vehicle-controller is a two-way link, and/or that theestablishing of the electronic communication link additionally includesreceiving information about the vehicle, and/or about another VCMinstalled on the vehicle.

In some embodiments, at least a portion of the information about thesecond VCM transferred from the respective VCM-controller to thevehicle-controller can include a response to a query.

In some embodiments, the information about the second VCM includesresults of a self-diagnostic test carried out before the installation.

In some embodiments, the information about the second VCM can include atleast one of operating history and maintenance history of the secondVCM.

In some embodiments, the validating of the plurality of subsystems caninclude receiving information from one or more sensors onboard thesecond VCM.

According to embodiments of the invention, a vehicle-mountable vehiclecorner module (VCM) for regulating motion of a host vehicle comprises:(a) a plurality of mechanical subsystems residing entirely on board theVCM to mediate between the sub-frame and the wheel-hub assembly, thesubsystems selected from the group of subsystems consisting of a drivesubsystem, a steering subsystem, a suspension subsystem and a brakingsubsystem; and (b) an VCM-onboard VCM-controller for actuating, inresponse to incoming electrical signals received from outside the VCM,the plurality of mechanical sub-systems, the VCM-controller comprising acommunications module configured to establish a communication link witha vehicle-onboard vehicle-controller for exchanging informationtherebetween after the VCM is mounted to the host vehicle.

In some embodiments, the communications module can be additionallyconfigured to establish a communication link with the vehicle-onboardvehicle-controller for exchanging information therebetween before theVCM is mounted to the host vehicle.

In some embodiments, the information can include results of validatingthe plurality of sub-systems by the VCM-controller.

In some embodiments, operation of the vehicle after the VCM is mountedthereto can be contingent upon receiving a positive validation-processresult from the VCM-controller.

A method is disclosed, according to embodiments, for replacing a firstvehicle corner module (VCM) of a host vehicle with a second VCM, each ofthe first and second VCMs comprising (i) plurality of mechanicalsubsystems residing entirely on board the VCM to mediate between thesub-frame and the wheel-hub assembly, the subsystems selected from thegroup of subsystems consisting of a drive subsystem, a steeringsubsystem, a suspension subsystem and a braking subsystem, and (ii) aVCM-onboard VCM-controller for actuating, in response to incomingelectrical signals received from outside the VCM, the plurality ofmechanical sub-systems, the method comprising: (a) establishing anelectronic communication link between the respective VCM-controller ofthe second VCM and a vehicle-controller onboard the host vehicle; and(b) transferring information about the second VCM from the respectiveVCM-controller to the vehicle-controller.

In some embodiments, the communication link can be established beforethe VCM is mounted to the host vehicle.

In some embodiments, the transferred information can include results ofvalidating the plurality of sub-systems by the VCM-controller.

In some embodiments, operation of the vehicle after the VCM is mountedthereto can be contingent upon receiving a positive validation-processresult from the VCM-controller.

According to embodiments of the invention, apparatus is disclosed foruse in offline testing of a vehicle control module (VCM) when the VCM ismechanically decoupled from any vehicle, the VCM comprising a sub-framemountable to a reference frame of a vehicle, a wheel-hub assembly, aVCM-onboard VCM-controller, and plurality of subsystems residing onboardthe VCM to mediate between the sub-frame and the wheel-hub assembly, thesubsystems selected from the group of subsystems consisting of a drivesubsystem, a steering subsystem, a suspension subsystem and a brakingsubsystem. The apparatus comprises: (a) a support element for at leastpartly supporting the weight of the sub-frame and for constrainingmovement of the sub-frame; (b) at least one diagnostic device formeasuring operational data of at least one of the plurality ofsubsystems, and (c) a computing device configured to communicate withthe VCM-controller and receive therefrom diagnostic information relatedto the offline testing, wherein the testing includes a functional testof at least one of the plurality of subsystems.

In some embodiments, the computing device can be additionally configured(i) to receive diagnostic information related to the testing from the atleast one diagnostic device and/or (ii) combine diagnostic informationreceived from the at least one diagnostic device with diagnosticinformation received from the VCM-controller.

In some embodiments, at least one parameter of the testing can beselected by the VCM-controller.

In some embodiments, the at least one diagnostic device can include achassis dynamometer.

According to embodiments of the invention, a vehicle comprises: (a) avehicle-onboard vehicle-controller; (b) one or more pairs of opposingvehicle corner modules (VCMs), each VCM comprising a sub-frame mountedto a reference frame of the vehicle, a wheel-hub assembly, a VCM-onboardVCM-controller, a plurality of subsystems mediating between thesub-frame and the wheel-hub assembly and selected from the group ofsubsystems consisting of a drive subsystem, a steering subsystem, asuspension subsystem and a braking subsystem; and (c) communicationsarrangements enabling peer-to-peer data communications betweenrespective VCM-controllers of at least one pair of the one or more pairsof opposing VCMs, the respective VCM-controllers being configured toexchange information therebetween.

In some embodiments, the exchanged information can include at least oneof operating history and an operating profile of a new or replaced VCM.

In some embodiments, the VCM-controllers can be configured to reduce,singly or in combination, a computing load on the vehicle controller.

In some embodiments, the VCM-controllers can be configured to provide anoperational backup functionality, singly or in combination, for anotherVCM-controller.

In some embodiments, the VCM-controllers can be configured to provide anoperational backup functionality, singly or in combination, for thevehicle controller.

In some embodiments, the communications arrangements can enablepeer-to-peer data communications between respective VCM-controllers ofall of the VCMs of the vehicle.

In some embodiments, the respective selected plurality of sub-systems ineach VCM of a first pair of opposing VCMs can be not the same as therespective selected plurality of sub-systems in each VCM of a secondpair of opposing VCMs.

In some embodiments, the respective selected plurality of sub-systems ineach VCM of a given pair of opposing VCMs can comprise at least threesub-systems. In some embodiments, the respective selected plurality ofsub-systems in each VCM of a given pair of opposing VCMs can comprisefour sub-systems.

In some embodiments, the vehicle can comprise exactly four VCMs. In someembodiments, the vehicle can comprise exactly two VCMs.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described further, by way of example, withreference to the accompanying drawings, in which the dimensions ofcomponents and features shown in the figures are chosen for convenienceand clarity of presentation and not necessarily to scale. In thedrawings:

FIGS. 1A-1D depict schematic illustrations of various communicationschemes between parties associated with a vehicle equipped with avehicle corner module (VCM), according to embodiments of the invention;

FIGS. 2A-2C depict various embodiments of communication between avehicle platform and one or more VCMs, according to embodiments of thepresent invention;

FIG. 2D is a schematic block diagram illustration presenting high-leveltopology of control units in a VCM-based vehicle, according toembodiments of the invention;

FIG. 2E is a schematic high-level block diagram of software, accordingto embodiments of the invention.

FIGS. 3A-3G depict various mechanical-electrical configurations of VCMsaccording to embodiments of the invention;

FIG. 4A depicts a schematic 3D illustration of a VCM according toembodiments of the invention;

FIG. 4B depicts a schematic 3D illustration of a VCM according toembodiments of the invention;

FIG. 4C is a schematic block diagram of a storage unit for storing a VCMaccording to embodiments of the invention;

FIG. 5 is a schematic flow diagram depicting steps involved in plugginga new VCM to a vehicle platform, according to embodiments of the presentinvention;

FIG. 6 is a chart detailing which elements of a system that comprisesone or more VCMs, are involved in the performance of each of certainoperations that may take place during operation and maintenance of avehicle having VCMs, according to embodiments of the invention;

FIGS. 7A and 7B are schematic flow diagrams depicting processes ofmatching a newly installed VCM with a vehicle platform and with otherVCMs, and optional additional process, respectively, according toembodiments of the present invention;

FIG. 8 is a schematic flow diagram depicting processes of calibrating anewly installed VCM, according to embodiments of the present invention;

FIG. 9 is a schematic flow diagram depicting a process of calculatingoperational parameters for a newly installed VCM, according toembodiments of the present invention;

FIG. 10 is a schematic flow diagram depicting process for adaptingactual operational parameters based on predictive operationalparameters, according to embodiments of the present invention;

FIG. 11 is a flow diagram depicting process for replacing amisfunctioning VCM, according to embodiments of the invention;

FIGS. 12A and 12C are schematic block diagrams depicting communicationand control flows between units of a vehicle in some exemplarysituations according to embodiments of the invention;

FIG. 13 is a schematic flow diagram depicting process for operating VCMand communicating operational data, according to embodiments of thepresent invention;

FIGS. 14A and 14B are schematic drawings of vehicles comprising acommunications bus and a plurality of VCMs, according to embodiments ofthe present invention;

FIGS. 14C and 14D are schematic drawings of vehicles comprising a singlepair of opposing VCMs, according to embodiments of the presentinvention;

FIGS. 15, 16A and 16B are schematic illustrations of a VCM comprising aplurality of sub-systems, according to embodiments of the presentinvention;

FIGS. 17A, 17B and 17C are schematic diagrams of a VCM-controller,according to embodiments of the present invention;

FIGS. 18 is a flowchart of a method for operating a vehicle, accordingto embodiments of the present invention;

FIGS. 19A, 19B, 19C and 20 are flowcharts showing steps of methods forreplacing a VCM on a vehicle, according to embodiments of the presentinvention; and

FIG. 21 is a schematic diagram of a VCM-testing apparatus according toembodiments of the present invention;

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numbers may be repeated among the figures toindicate corresponding or analogous elements.

DETAILED DESCRIPTION OF THE PRESENT INVENTION

The invention is herein described, by way of example only, withreference to the accompanying drawings. With specific reference now tothe drawings in detail, it is stressed that the particulars shown are byway of example and for purposes of illustrative discussion of thepreferred embodiments of the present invention only, and are presentedin the cause of providing what is believed to be the most useful andreadily understood description of the principles and conceptual aspectsof the invention. In this regard, no attempt is made to show structuraldetails of the invention in more detail than is necessary for afundamental understanding of the invention, the description taken withthe drawings making apparent to those skilled in the art how the severalforms of the invention may be embodied in practice. Throughout thedrawings, like-referenced characters are generally used to designatelike elements.

Note: Throughout this disclosure, subscripted reference numbers (e.g.,10 ₁ or 10 _(A)) may be used to designate multiple separate appearancesof elements of a single species, whether in a drawing or not; forexample: 10 ₁ is a single appearance (out of a plurality of appearances)of element 10. The same elements can alternatively be referred towithout subscript (e.g., 10 and not 10 ₁) when not referring to aspecific one of the multiple separate appearances, i.e., to the speciesin general.

For convenience, in the context of the description herein, various termsare presented here. To the extent that definitions are provided,explicitly or implicitly, here or elsewhere in this application, suchdefinitions are understood to be consistent with the usage of thedefined terms by those of skill in the pertinent art(s). Furthermore,such definitions are to be construed in the broadest possible senseconsistent with such usage.

Unless otherwise indicated, a “vehicle corner module” or “VCM” as usedherein means an assembly for supporting a wheel of a vehicle andregulating the motion of a vehicle according to any of the embodimentsdisclosed herein. The VCM assembly includes components such as (and notexhaustively): steering systems, suspension systems, braking systemsincluding hydraulic sub-systems, gearing assemblies, drive motors,driveshafts, wheel hub assemblies, controllers, communicationsarrangements, and electrical wiring. In some embodiments, a VCM caninclude a wheel and tire. A VCM can be mounted to a ‘reference frame’ ofa vehicle, e.g., a chassis or similar vehicle frame or a platform,although the mounting need not necessarily be done ‘as a unit’. When aVCM is described as being installed in/on a vehicle, then the VCM ismounted to the reference frame. A VCM may include a ‘sub-frame’ to whichsome or all of the VCM components are mounted or otherwise attached suchthat the sub-frame mediates between the reference frame and the variousVCM components. The term ‘sub-frame’ should be understood to mean anyrigid frame or one or more structural elements in fixed combination. The‘sub’ prefix is intended to distinguish the sub-frame from a main frameor reference frame of the vehicle. A VCM may or may not include one ormore electric motors and/or the wheel itself (and tire).

When used in this specification and in the claims appended hereto, theword “vehicle” is to be understood as referring to a motorized vehiclehaving one or more wheels. Non-limiting examples of a vehicle, accordingto this definition, are a vehicle with motive power provided by anonboard engine, and an ‘electric vehicle’ powered, when in motion, byone or more electric motors and a battery or other energy storage deviceonboard. The battery need not be provided with the vehicle, or installedin the vehicle, unless and until the vehicle is in motion. The word‘vehicle’ should also be understood as encompassing a “vehicle platform”comprising at least a chassis (or other ‘reference frame’ to which VCMscan be mounted) and one or more wheels. A ‘vehicle platform’ need notnecessarily comprise, at the time of providing the vehicle platform, allof the accoutrements required for transport of passengers and/or cargosuch as vehicle-body components or interior furnishings.

The terms “communications arrangements” or similar terms such as“communications schemes” as used herein mean any wired connection orwireless connection via which data communications can take place.Non-limiting and non-exhaustive examples of suitable technologies forproviding communications arrangements include any short-rangepoint-to-point communication system such as IrDA, RFID (Radio FrequencyIdentification), TransferJet, Wireless USB, DSRC (Dedicated Short RangeCommunications), or Near Field Communication; wireless networks(including sensor networks) such as: ZigBee, EnOcean; Wi-fi, Bluetooth,TransferJet, or Ultra-wideband; and wired communications bustechnologies such as . CAN bus (Controller Area Network, Fieldbus,FireWire, HyperTransport and InfiniBand. “Establishing a communicationslink” as used herein means initiating and/or maintaining datacommunications between two or more processing units (e.g., controllers,computers, processors, etc.) in accordance with any of thecommunications protocols supported by the two or more communicatingnodes.

As used throughout this disclosure and the claims appended hereto, theterm “electrical signals” or similar terms such as “electrical inputs”means electrical and/or electronic, and includes any transmission ofeither direct or alternating electric current, of electronicinformation, or of any combination of electrical and electronic signalsand information.

The term “controller” as used herein means a computing device configuredfor monitoring, controlling, regulating and/or actuating one or morecomponents, systems or sub-systems. A controller should be understood toinclude any or all of (and not exhaustively): one or more processors,one or more computer-readable media, e.g., transient and/ornon-transient storage media, communications arrangements, a power sourceand/or a connection to a power source, and firmware and/or software.When used herein in a hyphenated expression such as vehicle-controlleror VCM-controller, the term means a controller for controlling thevehicle and/or components and/or sub-systems of the vehicle, or acontroller for controlling the VCM and/or components and/or sub-systemsof the VCM, respectively. Unless specifically noted otherwise, acontroller is installed in or on the controlled element (vehicle, VCM,etc.) while a “control unit” is like a controller but is not installedin or on the controlled element. For example, a VCM-controller islocated in or on the VCM, while a VCM control unit is not, and may belocated elsewhere on the vehicle, e.g., on the chassis unit. Controllers(and control units) can be programmed in advance, e.g., by havingprogram instructions stored in the computer-readable media for executionby one of more processors of the controller. Thus, a controller‘configured’ to perform a function is equivalent herein to thecontroller being programmed, i.e., having access to stored programinstructions for execution, to perform said function.

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by those skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

A vehicle corner module (VCM) system is disclosed comprising a sub-framefor interfacing between the VCM and a vehicle platform, a wheelinterface for coupling a wheel to the VCM, one or more VCM modules,which include mechanical assemblies and electrical units for operating awheel when assembled on the vehicle and one or more electricalinterfaces for exchanging signals and data between the VCM modules andthe vehicle platform.

In some embodiments the VCM further comprises one or more sensors formeasuring operational data of the one or more VCM modules and a VCMcontroller in electrical connection with the one or more electricalinterfaces and the one or more electrical units of the VCM modules.

In some embodiments the VCM further comprises one or more of: asuspension module, a wheel driving module, a steering module, and acontrol module and the wheel driving module comprises one or more of: anelectric motor unit, a transmission unit, and a braking unit.

In some embodiments one or more of the VCM modules are located betweenthe wheel interface and the sub-frame.

In some embodiments the one or more of the electrical units comprise aVCM module controller and the VCM module controller comprises integratedcircuits having hardware and software that control two or more VCMmodules.

A vehicle is disclosed having one or more of the vehicle corner moduledescribed above.

In some embodiments the vehicle comprising a VCMs control unit (CSCU);and a platform-VCM bus for communication between the vehicle and one ormore of electrical circuits located in the VCMs,

In some embodiments of the vehicle the VCMs are in direct electricalcommunication, such that data can be exchanged between the VCMsbypassing the CSCU.

A method of activating a vehicle corner module (VCM) is disclosedcomprising mounting the VCM on a vehicle platform, setting a VCMoperational profile, and activating the VCM to be operational with theVCM operational profile.

In some embodiments the method further comprises matching betweenoperational profiles of the VCM and the vehicle platform and setting ofa VCM operational profile is to a matching operational profile of theVCM.

In some embodiments the method further comprises matching betweenoperational profiles of the VCM and the operational profiles of otherVCMs coupled to the vehicle platform and setting the operational profileof one or more of the VCMs coupled to the vehicle platform in accordanceto the matching between operational profiles of the one or more of theVCMs.

In some embodiments the method further comprises receiving anoperational plan defined for the VCM and setting VCM operational profileaccording to the operational plan.

A method of servicing a vehicle having one or more vehicle cornermodules (VCMs) is disclosed comprising receiving an indication thatservicing of a system located m the VCM is required, halting theoperation of the vehicle, de-coupling the VCM from the vehicle, mountinga substituting VCM to the vehicle and resuming the operation of thevehicle.

A vehicle corner module (VCM) is disclosed in accordance withembodiments of the present invention. A VCM may be adapted to connect avehicle's wheel to a vehicle's platform, for providing to the wheel oneor more from the following capabilities: rotational power, braking,steering, and suspension.

A VCM may operate driving systems of a vehicle by communicatingoperational data related to driving systems located at the VCM betweenthe VCM and the vehicle platform. The VCM may include a sub-frame forconnecting the VCM to the vehicle platform. A wheel interface formounting a vehicle wheel to the VCM, mechanical and electrical drivingsystems for driving the vehicle platform, sensors for measuringoperational data of the VCM and for reflecting that operational data tothe VCM controller and optionally to the vehicle controller andtransmit/receive unit to enable exchange of the data with the vehiclecontroller.

Control of the driving system of a VCM may be carried out by a controlunit connected to one or more of the driving systems. The control unitcan be associated with each of the systems. In some embodiments, controlunits of two or more of the VCM systems may be embodied in a commoncontrol unit, which may be associated with multiple driving systems.Thus, a single controller can be associated with multiple VCMs therebyintegrating units as opposed to distributed units)

The VCM may comprise one or more modules from a list comprising asuspension module, a wheel driving module, a steering module and acontrol module. A driving module may comprise one or more units from anelectric motor unit, transmission unit and braking unit. A steering unitmay comprise local steering actuator or mechanical steering connectorsadapted to receive steering control from outside of the VCM, andoptionally steering transmission unit. A control module may be adaptedto control all operational aspects of the VCM, such as wheel poweringparameters (moment, speed, direction etc.), suspension dampeningdynamics, braking operation, steering operation, and the like.

According to embodiments of the present invention a VCM may be adaptedto interface with a vehicle mechanically and electrically and tointerface with control signals of the vehicle. For example, the VCM maybe adapted to be connected to the vehicle's platform and optionally tomechanically interface with steering controls provided by modules on thevehicle's platform. According to some embodiments the VCM may further becoupled mechanically with rotational power provided by modules on thevehicle's platform.

In some embodiments the VCM may be adapted to receive electrical powerprovided by electrical modules on the vehicle's platform and totranslate the electrical power to rotational power provided to a wheelby, for example, an electrical motor comprised in the VCM. The providedelectrical power may farther be utilized to produce steering control tothe VCM, for example using an electrical steering module such as anelectrical motor, with or without steering transmission, an electricallinear motor, and the like,

In some embodiments the VCM may be adapted to engage with a vehicle'scontrol module disposed on the vehicle's platform, for exchanging dataand control commands, for controlling the wheel's rotation, braking,steering and/or suspension. In some embodiments a VCM may heconfigurable so as to match connecting to a given type of vehicle merelyby data interaction between the vehicle controller and the VCMcontroller, at least with respect to control of momentary requireddriving power, braking profile, dampening profile and the like.According to some embodiments the plugging of a VCM to a vehicle, or itsunplugging from the vehicle may be communicated to an external controlunit.

A VCM module may be coupled to a vehicle's platform by mechanical means,electrical power means and control means. The coupling may be configuredto operate by plug-in/plug-out means, in order to enable quick yetaccurate installing/removing a VCM unit. Mounting of a VCM unit to avehicle causes one or more of the results: coupling a wheel transmissionto the vehicle platform; coupling a braking system to the vehicle'splatform, coupling a suspension system to the vehicle's platform,coupling a steering system to the vehicle's platform; and coupling awheel motor to the vehicle's platform.

According to embodiments of the invention mounting of a VCM onto avehicle platform yields placing the vehicle and the VCM in a mechanicaland electrical operational state, including required tunings andadaptations, such as adapting the dynamics of the just installed VCM(momentary driving moment, aligned steering, coordinated suspension, andthe like) to the vehicle's other VCMs and vehicle platform. In someembodiments the VCM own performance parameters may be transmitted to thevehicle platform in order to enable bringing the installed VCM to fullcoordination with the vehicle other systems.

During installation of a VCM to a vehicle, the VCM may perform a,hand-shake process with a controller of the vehicle platform. In someembodiments, the handshake process includes data exchange with otherVCMs of the vehicle. In some embodiments, the handshake may includecommunication with an external computing unit located away of thevehicle (e.g. external computer, connection to remote computing runt viacloud service, etc.).

Once installation is completed, a control system of the vehicle platformis in communication with the connected corner module and can communicatedata and/or power to and from the corner modules to operate the cornersby systems such as steer-by-wire, torque vectoring, brake-by-wire, yawstability control systems (such as ESP systems),

Data exchanged between computing units on the vehicle platform and a VCMcan include data representative of health monitoring and associated withpreventative maintenance.

Data exchanged between computing units on the vehicle platform and a VCMcan include VCM module identity number (ID) to uniquely identify theVCM, VCM model, VCM systems, and VCM capabilities/specifications. Theexchanged data may further comprise vital sensor readings (errors,current lifetime status of components such as bearings, seals, oillevels, brake pads, air pressure, etc.).

An aspect of the invention relates to calibration of a VCM. Calibrationcan be performed after mounting the VCM on the vehicle platform.Calibration can be performed as a scheduled process. Calibration mayfurther be performed in accordance to updated operational parameters ofthe vehicle and/or the VCM and/or VCMs. Calibration may includemeasuring, diagnosing and updating one or more of the followingparameters of the VCM orientation of wheel mounted on the VCM (caber,caster, toe angle), braking performance in response to a given breakinginput value, and vibrations of one or more of the assemblies of the VCM.

According to embodiments of the invention operation of a VCM may beperformed adaptively based on VCM lifecycle, on data received from theVCM and based on operator's settings.

In some embodiments the actuators included in a VCM may be electricaland/or hydraulic actuators. One or more electrical motors powering thedriving systems in the wheel may be located at a VCM. Power source canbe located in the VCM or outside the VCM. When a hydraulic power sourceis located outside the VCM, the VCM may include hydraulic control/poweractuators/transmission to operate the driving systems and/or thesteering systems. When a hydraulic power source is located inside theVCM located inside the wheel, driving transmission may be smaller or notrequired at all.

In some embodiments, computing load associated with a vehicle havinginstalled thereon at least one VCM may be separated between computingunits of the vehicle platform and computing units included in the VCMunit (when the VCM is installed with computing unit(s)), as the case maybe, so as to ensure that the aggregated computing capability issufficient. A minimal computing duty for a computing unit in the VCM maybe collecting and pre-processing sensor data from the various sensors inthe VCM and providing the pre-processed data to computing unit of thevehicle platform and further receiving flow of control signals providedby the computing unit of the vehicle platform and distributing thesignals to various actuators.

In some embodiments, following the connection (or assembly of) a VCM tothe vehicle platform, a data connection may be established between theparties and autonomously the newly installed VCM may be recognized andmay be placed in an operational state, without the need of a humaninvolvement. Embodiments involving relatively high computing power atthe VCM side enable high capability of upgrading the VCM operationalfeatures without overloading the vehicle platform computing unit. Insome embodiments the operational profile of the vehicle nay beadministered by the computing unit of the VCM. Further, high computingcapabilities of the computing unit of the VCM enables production of VCMswithout affecting production of the vehicle platform.

In some embodiments a VCM may be in active communication not only withthe vehicle platform but also with at least one other VCM. Such state isreferred to as inter-connected VCMs. VCM of a vehicle may be all of thesame type, or may differ having same type at the front and havinganother type at the rear of the vehicle. In some other embodiments VCMsof one side may be of the same type and VCMs of the other side may be ofa different type. For example, in a specific type of vehicle the frontVCMs may be steerable and motorized while the rear VCMs may lacksteering and motorizing capabilities. In another example, the VCMs maydiffer from each other by the sensors they are equipped with. In suchembodiments VCMs that have more sensors may communicate relevant data toVCMs lacking these sensors.

In some embodiments the vehicle may be fully controlled through allaspects of the vehicle operation where all computing work is carried outby one or more of the computing units of the VCMs, with no computingunit on the vehicle platform, in some embodiments the vehicle may becontrolled remotely, fully or partially, e.g. air autonomous vehicle.

A VCM—based vehicle may reduce routine or breakdown servicing time andcosts by replacing traditional maintenance routine involving maintenanceby the sub-module (brakes, steering, etc.) with replacement of the VCMin which one (or more) functions are misfunctioning with a fullyfunctional VCM drat may be selected to fit the type of vehiclemechanically while all other aspects of its operation may be tuned tofit the vehicle using data exchange between the newly installed VCM andthe entire vehicle and their VCMs. Tins process may take from a fewseconds to up to few minutes, thereby keeping the in-garage down time ofthe vehicle to minimum, while the misfunctioning VCM may be maintainedafter the vehicle leaves the garage. The simplicity associated with thedismantling or assembling a VCM from/to a vehicle platform enables useof robotic equipment for carrying out the job, thereby expediting theprocess even more and reducing the man-labor hours. According to thisembodiment maintenance may require less training and proficiency andeven may be carried out by the operator of the vehicle at his/her ownhome garage. Further, a vehicle may be upgraded by upgrading its VCMs,without needing to change the vehicle platform. In addition, insuranceof the vehicle may be changed from whole-vehicle model to VCM-basedmodel of insurance.

In this type of embodiments, replacement of a VCM may involve thefollowing steps: unfastening the VCM from the vehicle platform,disconnecting the electrical/communication connection(s) if any,positioning the replacement VCM and fastening it to the vehicleplatform, re-connecting the electrical/communication connection(s) andallowing the newly installed VCM to autonomously complete its fitting-in process, carried by connecting to other VCMs and/or to the vehicleplatform computing unit. This replacement process may be carried out byany one of a servicing professional, an untrained operator, or a roboticsystem.

VCMs that are stored on shelves waiting to be used in a vehicle may betested for proper operational state periodically or by demand Thein-store VCM may be connected to a testing facility that many imitatefull connection of the tested VCM to an operative vehicle and may injecttest signals to the tested VCM and monitor the received signals,received wither from in-VCM sensors or external sensors being part ofthe testing facility. The test procedure may end with go/no-go of thetested VCM or may also add test brief that may be provided to theoperator and also be saved in the computing unit of the tested VCM,thereby making the tuning of the VCM after it was installed on thevehicle faster and more accurate.

The testing procedure may be adapted to perform one or more of thefollowing test protocols: testing a single system of the VCM, testingmultiple systems of the VCM, testing two or more of foe VCM systems inan operational scenario involving combined operations of the systems(e.g. steering while changing speed), repetition of the test for anumber of times and/or in a changing rate, and testing the VCM accordingto given driving profile.

Cost of usage of a VCM may serve for business transactions such asrental of vehicle, rental of corner modules, service plans, subscriptionservices. Some examples of operational parameters are: distancetraveled, hours used, accelerations (max, frequency)—data that cancorrelate with VCM wear rates. Operational data may be compared tooperational planned values. Planned values may be part of a businessplan defined for foe VCM and/or vehicle, e.g. during purchasing the VCM,renting the VCM, purchasing/subscribing to service plan for the VCMFinancial data may relate to information used in insurance plan.Insurance plan can be of a corner module and/or vehicle. Insurance plancost may be based on historical data of the VCM. According to someembodiments, operation of the VCM may be controlled according tofinancial data. In some embodiments, performance (operational profile)of the VCM is selected as a dependency of selected plan. In someembodiments, performance (operational profile) of the VCM is selected asa dependency of actual VCM data with respect to preceding plan.Operational profile may be set to be reduced/increased.

Some embodiments of a VCM, VCM uses, VCM as part of a vehicle and thelike are described herein below with regard to the following drawings.

Reference is made now to FIGS. 1A-1D, that depict schematicillustrations of various communication schemes between partiesassociated with a vehicle equipped with VCM, according to embodiments ofthe invention. FIG. 1A depicts a basic communication scheme between aVCM 150 and a vehicle platform 102, which enable exchanging power andsignals associated with the operation of the VCM motor, steering,braking, suspension and VCM computing unit. Signals may comprise controlsignals and data signals. Fig, 1B depicts a basic communication schemebetween a VCM 150, a vehicle platform 102 and an external computing unit106. Signals and power that may be exchanged between hie vehicleplatform 102 and the VCM 150 may be the same as described above withrespect to FIG. 1A. Additionally VCM 150 and vehicle platform 102 mayexchange data with external computing unit 106, for example for storingdata for later use, or for receiving stored data, or for enjoying addedcomputing power.

FIG. 1C depicts a basic communication scheme between a VCM 150, avehicle platform 102, an external computing unit 106 and one or moreadditional VCMs 108. Signals and power that may be exchanged between thevehicle platform 102, VCM 150 and external computing unit 106 may he thesame as described above with respect to FIG. 1B. Additionally, one ormore other VCMs 108 that are in active communication with vehicleplatform 102, as is VCM 102, may optionally be in communication with VCM102 (i.e. inter-VCM communication) and/or with external computing unit106.

FIG. 1D depicts a basic communication scheme between a VCM 150, avehicle platform 102, an external computing unit 106 and service station110. Signals and power that may be exchanged between the vehicleplatform 102 and VCMs 150 may be the same as described above withrespect to FIG. 1A. Additionally, a service station may establish activecommunication with either one of vehicle platform 102, VCMs 150 and/orexternal computing unit 106. Signals exchanged between the servicestation 110 and either one of vehicle platform 102, VCMs 150 andexternal computing unit 106 may comprise VCM related data, vehiclerelated data and other type of data associated with the vehicleplatform, and the VCMs. Such data may be useful for servicing amalfunctioning VCM, for updating health record of a serviced VCM, forefficient tuning a VCM to a specific vehicle and the like.

FIGS. 2A-2C depict various embodiments of communication between avehicle platform and one or more VCMs, according to embodiments of thepresent invention.

Reference is made to FIG. 2A, which depicts a schematic electricaldiagram of connections between units on the vehicle platform 202 and aVCM 150. A power source 202A may be located on the vehicle platform,adapted to provide power to consumers on the platform 202 and/or in theVCM 150. A VCMs control unit (CSCU) 202B may be located on the platform202 and may comprise a VCMs data processor 202B1 and a VCMs systemcontroller 202B2. VCM 150 may comprise one or more control units fromthe group 204A that may comprise a suspension control unit (SCU) 202A1,a braking control unit (BCU) 202A2, a transmission control unit (TCU)202A3 and a steering control unit (STU) 204A4. VCM 150 may furthercomprise a VCM controller 50 that is adapted to communicate with allother VCM sub-system control units and with VCM sensors 204B. VCMcontroller 50 may be in active communication with VCM systems controlunit 202B. This scheme enables flow of control and data between thevehicle platform 202 and a VCM 150.

According to some embodiments, one or more of the control units 204A aredesigned to have merged components and functionality. In someembodiments, merging control units is by sharing processing algorithmshaving shared operational parameters (e.g. rotational speed). In someembodiments, merged control units share power source. In someembodiments, merged control units receive input from a common set ofsensors (e.g. sensors included in 204B). In some embodiments, mergedcontrol units are accommodated within a common mechanical compartment.In some embodiments, merging control units reduces the size of controlunits located within VCM 150.

According to some embodiments, one or more of control units 204A arepositioned with VCM 150 by using potting technique, such as the controlunit does not require external housing besides of being supported at themechanical structure of system on VCM 150.

Reference is made to Fig, 2B, which depicts a schematic electricaldiagram of connections between units on the vehicle platform 202 andmore than one VCM 150, On the vehicle platform 202 power source 202A maybe identical or similar to that of FIG. 2A. VCMs control unit (CSCU)212B may comprise, additional to processor 212B1, that may be identicalto processor 202B1 of FIG. 2A, also I/O unit 212B3 and data storage212B4. I/O unit 202B3 may be adapted to communicate over a platform-VCMbus 213. Each of VCM units 150 may comprise, in addition, controller(CCU) 50 and sensors unit 204B—both may function similarly to controller50 and sensors unit 204B of Fig, 2A. additionally, VCM 150 may comprisedata storage 204D. This scheme enables flow of control and data betweenthe vehicle platform 202 and a two or more VCMs 150 and further enablesflow of control and data between VCMs directly. According to someembodiments, two or more of the control units in each VCM 150 may beembodied in a single computing unit.

Reference is made to FIG. 2C, which depicts a schematic electricaldiagram of connections between units on the vehicle platform 202 andmore than one VCM 150 using separated communication buses 213 and 223.The control units on vehicle platform 202 may be identical to thecorresponding units of FIG. 2B. the control units in each VCM 150 may beidentical to the respective control units of VCM 150 of FIG. 2B. Incontrast to the communication scheme of FIG. 2B, here anothercommunication bus is in use—VCM-VCM bus 223 that enables directcommunication between two or more VCMs with no involvement of CSCU 212Bof the platform. Each of the VCMs may be connected to the platform-VCMbus 213 and to the VCM-VCM bus 223 via connector 214E. This schemeenables flow of control and data between the vehicle platform 202 and atwo or more VCMs 150 and further enables flow of control and databetween VCMs 150 directly.

Reference is made now to FIG. 2D, which is a schematic block diagramillustration presenting high-level topology of control units in aVCM-based vehicle 100 according to embodiments of the invention. Vehicle100 may comprise four VCMs installed to its vehicle platform, namelyVCMs 150 _(L1) and 150 _(L2) on the left side and VCMs 150 _(R1) and 150_(R2) on the right side. Respective controllers 50 of each of the VCMs150 may be in active communication with vehicle-controller 115 which mayinclude, a VCMs control unit (CSCU) whether as a distinct unit or asadded/integrated functionalities. The communication between each of theVCMs and the vehicle-controller 115 may be adapted to exchanged data,control signals, and reflect errors occurring during the operationsphases of the VCM and status of the VCM.

According to some embodiments the vehicle in FIG. 2D may be anautonomous vehicle. In this embodiment, a Main Autonomy Computer 233 isinstalled on the vehicle and is in active communication with thevehicle-controller 115, adapted to exchange control, error and statussignals. In some embodiments, vehicle may be human driven, and a MainAutonomy Computer 233 may be included as driver assistance system.

The configuration depicted in FIG. 2D does not show direct communicationbetween the VCMs. A potential advantage of having VCMs that don'tcommunicate with each other, is that control is done via thevehicle-controller 115. In some cases, this simplifies the prevention ofsending conflicting signals, for example conflicting steering angles.

Yet, in some embodiments a VCM-to-VCM bus (such as bus 223 of FIG. 2C)may be provided, to enable faster data exchange, improved level ofredundancy, and/or distributing computing overload between processors.

Reference is made now to FIG. 2E, which is a schematic block diagram ofa software (SW) high-level scheme, according to embodiments of theinvention. The SW scheme depicts division of SW assignments between SWmodules of a vehicle equipped with one or more physical modules where atleast one of these modules is controlled by a dedicated SW module. Inthe SW scheme of FIG. 2E, each of physical modules: steering module,power module, powertrain module, thermal cooling module and brake modulehas an associated SW module, adapted to provide control signals tocontrol the operation of the associated physical module, and to receivefrom the module reading of sensors monitoring the operation of thephysical module. Accordingly, steering SW module 241, power SW module242, powertrain SW module 243, suspension SW module 244, thermal coolingSW module 245 and brake SW module 246 are adapted to provide controlsignals, each to its respective physical module and to receive from itsrespective physical module sensors signals reflecting the operation ofthe associated physical module,

Each of the SW modules may be in active communication with central SWmodule 248, winch is adapted to receive control, status and error datafrom each of the SW modules, to store it and optionally to process thereceived data according to program lines stored thereon in anon-volatile memory (not shown). Central SW module 248 may be in activecommunication with vehicle control unit (not shown), for exampleaccording to one or more of the control schemes described elsewhereherein. Central SW module 248 is adapted to receive control signals froman external control entity (not shown), such as Autonomous Control unit(not shown). In some embodiments each of the SW modules may be operatedon a dedicated computing device (not shown) that may be disposed on, orin close proximity to the physical module it is adapted to control. Thisway, the respective HW/SW module is capable of full replacement abilitysimply by the removal of the associated module and replacing it withanother such module. In other embodiments two or more of the SW modulesmay be embodied on a single HW platform, e.g. that is disposed on thevehicle platform. In some embodiments the HW modules of the physicalmodules may be identical to each other and may vary only by the SWpackage loaded to the HW module. This arrangement may save costs, maylower the number of on-the-shelf spare modules and may shorten the timeneeded for removal, installation and SW load-and-tune time.

FIGS. 3A-3G depict various mechanical-electrical configurations of VCMsaccording to embodiments of the invention. In the following examplesvarious partial combinations of units of a VCM are shown.

Reference is made now to FIG. 3A, which schematically depicts anisometric drawing of as-installed with a wheel VCM 150. VCM 150comprises electrical motor 300A driving a suspension unit withdrivetrain unit 304B, which are adapted to rotate the wheel.Additionally, in this embodiment rotation sensor 306 may be installed atthe wheel bearing to reflect the rotational speed of the wheel.Electrical motor 304A may be connected to electrical power source viapower connection 304A1.

Reference is made now to FIG. 3B, which schematically depicts anisometric drawing of as-installed within a wheel VCM 150. VCM 150comprises steering assembly 310A, suspension assembly 310B, and brakingassembly 310C enclosed at least partially within a rim of a wheel.Steering assembly 310A may comprise, according to embodiments, steeringrod 310A1, steering motor 310A2 and steering control unit 310A3.Steering assembly 310A is adapted to receive steering control signalsfrom steering control unit 310A3. In some embodiments, steering controlunit 310A3 receives steering control signals from a central controlleron a vehicle platform or from a VCM. Suspension system 310B is depictedas system enabling movement of the wheel with respect to a vehicleplatform. Suspension assembly 310B may comprise sub-frame 310B2 in whichrail 310B1 is moveable. Suspension assembly 310B may further comprise asensor (not shown) that is adapted to measure suspensionexpansion/compression.

FIGS. 3C and 3D are face view and side cross section view of the VCMembodiment of FIG. 3B, respectively. In FIG. 3C some detail of brakingassembly 310C are shown, comprising braking actuator 310C1 and brakingcontrol interface 310C2, FIG. 3D depicts another view of sub frame 310B2and rail 310B1 of suspension assembly 310B.

Reference is made to FIG. 3E showing atop cross section view of VCM 150installed at least partially within a rim of a wheel, according toembodiments of the invention. VCM 150 may comprise motor 320A withcontrol unit 320A1 and motor electrical connection 320A2 to receivepower supply from a vehicle platform. VCM 150 further comprises powertransmission 320D to provide rotational drive to the wheel interface320C and steering assembly 320B. The wheel interface may compriserotation sensor (not shown), to provide data indicative of therotational speed. Electrical and communication cable 320A2 may providethe required connections to the vehicle platform and/or to other VCMs.In some embodiments VCM controller 50 may be installed as part of VCM150 systems. Electrical and control connections of steering assembly320B may be connected to VCM-controller 50.

Reference is made to FIG. 3F showing schematic side cross section viewof VCM 150 at least partially installed within a rim of a wheel,according to embodiments of the invention. FIG. 3F depict an embodimentof VCM 150 comprising a combined drivetrain and suspension 330B adaptedto rotate the wheel via driving shaft 330B1. Electrical andcommunication cable 330D may provide the required connections to thevehicle platform and/or to other VCMs. In some embodimentsVCM-controller 50 may be installed as part of VCM 150 systems. In casewhen the embodiment comprises steering capability (not shown) itselectrical and control cables may be connected to VCM-controller 50.Reference is made to FIG. 3G showing schematic side view illustration ofVCM 150 installed at least partially within the rim of a wheel accordingto embodiments of the invention. VCM 150 may comprise a motor 340A, asuspension assembly 340B, a VCM-controller 50, a brake actuator 340Dconnected via connection 340D1 to VCM-controller 50 and rotation sensor340E that may be disposed at the wheel bearing, VCM 150 may be connectedmechanically to vehicle platform via an interface module 342. Any one ofmotor 340A, rotation sensor 340E, brake actuator 340D, and suspensionassembly 340B may he connected and controlled by VCM-controller 50. Insome embodiments, any one of motor 340A, rotation sensor 340E, brakeactuator 340D, and suspension assembly 340B is connected to a designatedcontrol unit connected and controlled by VCM-controller 50.

Reference is made now to FIG. 4A, which depicts a schematic 3Dillustration of an embodiment of VCM 150 according to embodiments of theinvention. VCM 150 comprises motor and motor control unit 400A, powertrain 400B, suspension assembly 400C, steering control unit and steeringactuator collectively numbered 400D, braking unit 400 c and wheelinterface 400F, at least part of VCM 150 is adapted to be comprisedwithin the rim of vehicle when it is installed on wheel interface 400F.Any one of a rotation motor unit 400A, sensor (not shown), brake unit400E, and suspension assembly 400C may be connected and controlled by aVCM control unit (not shown). In some embodiments, any one of the motor,the brake, and suspension assembly may be connected to a designatedcontrol unit which may be connected and controlled by the VCM controller(not shown).

Reference is made now to FIG. 4B, which depicts a schematic 3Dillustration of an embodiment of VCM 150 according to embodiments of theinvention, VCM 150 depicts an in-wheel unit for attaching to two wheels.VCM 150 comprises motor and motor electrical connections 410A adapted todrive two wheel interfaces 410D via drivetrains 410C. VCM 150 furthercomprises suspension assembly 410B which may comprise suspension controlunit 410B1, suspension movement sensor 410B2, and suspensionspring-and-damper 410B3. VCM 150 may be connected to wheels via wheelinterfaces 410D and may be mechanically connected to a vehicle platformvia interface 412. VCM 150 may be controlled by VCM controller 50. Anyone of motor 410A and suspension assembly 419B may be connected andcontrolled by VCM controller 50. In some embodiments, any one of motor410A and suspension assembly 410B is connected to a designated controlunit (such as suspension control unit 410B1) connected and controlled byVCM controller 50.

Reference is made now to Fig, 4C, which is a schematic block diagram ofstorage unit 452 for storing VCM 454, according to embodiments of theinvention. VCM 454 may be similar to any one of the VCM described above,for example, VCM 150 that was described in FIG. 2A, having VCMcontroller 50 that may be in active communication with sensors unit 454Aand with the following active systems:

suspension control unit (SCU) 454B1, braking control unit (BCU) 454B2and steering control unit (STU) 454B3 and wheel driving control unit454B4.

VCM 454 may be adapted to be mounted in storage unit 452 via one or moremechanical mounts 452A and at least one electrical and control connector452B. Any one of mounts 452A may be adapted to support the weight of VCM454 within storage unit 452, In some embodiments, one or more of mounts452A contain electrical circuit.

According to some embodiments, storage unit 452 may be provided withcontroller and control programs (not shown) adapted to perform healthtests to the VCM 454 when stored within storage unit 452, as explainedherein above. Storage unit 452 may further comprise local output unit452C (e.g. display, wireless transmitter/receiver, etc.) that mayprovide VCM test results and enable control of test parameters. One ormore mounts 452A may include or comprise one or more form the followingsensors: vibration sensor, mechanical load sensor, mechanical momentsensor, and the like. Tests may be performed by activation one or moreof the VCM systems according to the test scheme. The testing results maybe recorded by the VCM sensors 454A and/or by sensors included in mounts452A.

Storage unit 452 may be a container having a plurality of walls 450 a ,450 b , 450 c , 450 d . Storage unit 452 may be shaped to fit a VCM 454or may be designed to be adjustable (e.g. by adjustable mounts 452A) tofit a plurality of VCM types. Storage unit 452 may be shaped and sizedto accommodate a plurality of VCMs 454 as once. Storage unit 452 may bestationary or may be adapted to be mobile.

Reference is made now to FIG. 5, which is a schematic flow diagramdepicting steps involved in plugging a VCM to a vehicle platform,according to embodiments of the present invention. A VCM may be pluggedto the vehicle platform in step 502. In some embodiments, plugging step502 is of a new VCM, not mounted earlier to the vehicle platform. Insome embodiments, plugging step 502 is of a VCM, which has beeninstalled on the vehicle platform in the past. According to someembodiments, plugging is by a human operator (e.g. technician, driver,fleet professional), in some embodiments, plugging is by a roboticsystem. The VCMs operational profile data is received by the platform instep 504.

The VCM version is checked in step 506. If VCM validation fails, anotice is issued in step 506 a . Failure notice may be provided to anoperator and may be visual or by sound. Failure notice may be an outputtransmitted to another device. Failure notice may be provided by the VCMand/or by the vehicle platform, and/or a device connected to the VCM. Insome embodiments, if the VCM version needs to be updated an update takesplace at step 506 b .

The VCM profile and the platform profile are matched in step 508 and ifmatching fails tins is reported in step 508 a . In some embodiments,reporting 508 a is followed by unplugging of VCM and terminating theplugging a VCM to a vehicle platform process. Reporting 508 a may be toan operator and may be visual or by sound. Reporting 508 a may be anoutput transmitted to another device. Reporting 508 a may be provided bythe VCM and/or by the vehicle platform, and/or a device connected to theVCM.

At step 510 the newly installed VCM is activated using a profile thatmatches the vehicle's profile. According to some embodiments, a profileis selected from profiles database stored at the VCM. In someembodiments, profiles database is stored at the vehicle platform. Insome embodiments, profiles database is stored at a remote storage unit(device, computer, cloud). According to some embodiments, selectedoperational profile includes activating/deactivating of system relatedto steering and/or braking and/or driving of the VCM. According to someembodiments, profile includes operational parameters that fit theperformance of the vehicle. In some embodiments, profile includesoperational parameters that fit a driver profile. In some embodiments,profile includes predictive operational parameters according to plannedoperation of the vehicle (e.g. time, distances, speed, weather, roadconditions).

The VCM historical data may optionally be loaded at step 512. In someembodiments, historical data may be operational data of the vehicleplatform. In some embodiments, historical data may be operational dataof the VCM. In some embodiments, historical data may be of plannedoperation of the vehicle. In some embodiments, loading historical data512 is followed by analyzing 513 the historical data. In someembodiments, a warning is provided when analyzing 513 results inconflicting with expected operation of the VCM and/or the vehicleplatform (e.g. time to maintenance is short to allow predictiveoperation).

After the VCM has been activated, its profile is matched with those ofother VCMs of the vehicle at step 514. According to some embodiments, ifa mismatch is found it is reported in step 514a (reporting method can besimilar to those listed above).

At step 516 the profile of the new VCM is adjusted to those of the otherVCMs of the vehicle,

At step 518 the profiles of the other VCMs are adjusted to that of thenew VCM, thereby creating closed loop, until a required adjustment hasbeen achieved. When adjustment of all VCMs has successfully finished theactivation of the newly installed VCM becomes operational at step 520.

Reference is made now to FIG. 6, which is a chart detailing whichelements of a system that comprises one or more VCMs, are involved inthe performance of each of certain operations that may take place duringoperation and maintenance of a vehicle having VCMs, according toembodiments of the invention.

Reference is made now to FIGS. 7A and 7B, which are a schematic flowdiagrams depicting processes of matching a newly installed VCM with avehicle platform and with other VCMs, and optional additional process,respectively, according to embodiments of the present invention, A newVCM is plugged to vehicle platform in step 702 and a controlling unit atthe VCM is activated in step 704. The VCM may be validated by one of aremote/external computer, by the vehicle platform controller or by aremote, in-cloud service in step 706, The VCM's information istransmitted to the vehicle platform controller in step 708 and then itis transmitted to other VCMs of the vehicle in step 710, to finish theprocess.

The following steps (712 to 716) are optional: in step 712 data from theother VCMs may be received and in step 714 the operational profile ofthe newly installed VCM may be set based on data from the other VCMs. Ifhistorical info of the new VCM is required it may be loaded in step714a, in order to optimize the results achieved in step 714. Finally, instep 716 operational parameters of the VCMs are calibrated to matchoperation with the vehicle systems.

Reference is made now to Fig, 8, which is a schematic flow diagramdepicting processes of updating operational VCM installed on the vehicleplatform, according to embodiments of the present invention. When a VCMis installed and activated, the operational parameters of the vehiclemay be updated (step 802). Updating step 802 may be during the operationof the vehicle, e.g. changing speed and or steering, while driving.Updating may be as part of servicing procedure.

Updating 802 is followed by identifying (step 804) one or more of thesystems of the one or more VCMs that may support the required updatedoperational parameters of the vehicle.

Updated parameters are now computed for the identified VCM systems (step806). The computing may be done by computing units on the vehicleplatform or at the VCM as the case may be. Following the computing step806 operational parameters for actuating one or more of the systems inone or more VCMS are updated (step 808). After the update step 808, theVCM systems are actuated (step 810) and approval of successful actuationof systems of the VCM is provided to the vehicle platform and/or theother VCMs (step 812).

One or more of the steps of identifying 804, updating 808, actuating810, and approving 812, may include data exchange between VCM and VCMsystems control unit are described elsewhere above.

Reference is made now to FIG. 9, which is a schematic flow diagramdepicting a process of updating operational parameters for an installedVCM, according to embodiments of the present invention.

Target operational profile set is received from the vehicle operator(step 902). Target operational profile may he provided during one ormore of the operations of the vehicle, a servicing procedure, and aninitial activation.

Setting target profile (902) is followed by receiving (904) of currentoperational profile of the vehicle from the vehicle platform controllerand/or from the one or more controlling units of the one or more VCMs.

Based on the above target VCM operational parameters and currentoperational profiles, target operational profile parameters may becalculated (step 906). Calculating 906 can be by computing units locatedat the vehicle platform, the VCM, and/or a remote computing unit,

The calculated operational parameters may be distributed (step 908) toone or more control units in one or more VCMs control runts may transmitupdated actuation signals to the systems in the VCMs in accordance tothe target parameters values,

Reference is made now to Fig, 10, which is a schematic flow diagramdepicting process for adapting actual operational parameters based onpredictive operational parameters, according to embodiments of thepresent invention. The process may begin by receiving data indicative ofthe VCM required performance (step 1002) and continues with estimatingof the predictive operational performance of the VCM (step 1004),

Next, based on the previous steps it is determined whether the VCM isable to achieve the predicted performance (step 1006). At this stepupdated operational parameters may be calculated in order to achieve thepredictive data (step 1006 a ) and optionally the predictive data isupdate accordingly (step 1006 b ).

Activation instructions that may be based on the calculated updatedpredictive data may now be sent to the one or more VCMs (step 1008) andbe determined again, in closed loop, in step 1006. In case calculating1006 a results in a failure of providing updated operational parameters,failure is provided. One or more of the steps of determining 1006 andcalculating 1006 a can be by the computing units located at the one ormore of vehicle platform, the VCM, and/or a remote computing unit.

Reference is made now to FIG. 11, which is a flow diagram depicting aprocess for replacing a VCM, according to embodiments of the invention.

A VCM may be identified as requiring replacement, for example in one ofthe following paths: a mismatch has been detected between the targetoperational parameters of the VCM, and the actual operationalparameters, that exceeds a pre-determined threshold (step 1102A), incase the expiration of the VCM has been detected (step 1102B) or in casea change in the planned service program has been detected (step 1102C).

If it was determined that the VCM need to be replaced a signalexpressing “replacement is required” will be issued (step 1150) and theoperation mode of the vehicle will be set to service mode (step 1106).

The misfunctioning VCM is removed from the vehicle platform (step 1108)and according to its actual state it may be discarded (step 1110A) or beserviced (step 1110B).

Regardless of the actual state of the removed VCM, a replacement VCM maybe mounted to the vehicle platform and is activated (step 1112) and thereplacement operation resumes (step 1114).

Reference is made now to FIGS. 12A-12C, which are schematic blockdiagrams depicting communication and control flows between units of avehicle in some exemplary situations according to embodiments of theinvention. In all three examples a vehicle platform may be equipped atleast with power source and VCM system controller where the systemcontroller may be disconnected from other runts, as the case may be inthe examples below. Each the VCM modules in the examples below may beequipped at least with one or more from the list comprising motor unit,steering unit, braking unit, suspension unit and a VCM controller—perthe following examples. In all of the following examples thecommunication between the vehicle platform controller and the VCMcontrol runt may be disconnected. Other communication lines may also bedisconnected. In the examples below a disconnected communication line ismarked with a red cross on it.

FIG. 12A depicts a basic communication arrangement of a platform vehiclecommunicating with a VCM via an external or remote computer to bypassthe disconnected direct line between them.

FIG. 12B depicts a configuration including a vehicle platform with morethan one VCM and an external/remote computer, where the directcommunication lines between a single VCM and the platform and betweenthe platform and several VCMs are disconnected. This configurationexemplifies how the communication of all VCMs with the platform isperformed via the remote/external computer, and communication betweenthe VCMs may strengthen it.

FIG. 12C depicts a scenario in which in a vehicle the vehicle platformis disconnected from direct communication with a VCM but hascommunication line with a remote/external computer and with a servicestation. A communication line is also active between the remote/externalcomputer and the service station. As seen here the communication betweenthe platform and the VCM may be performed via two alternative paths—viathe service station and/or via the remote/external computer.

Reference is made now to FIG. 13, which is allow diagram depictingprocess for operating VCM and communicating VCM data with other systems,according to embodiments of the invention.

The operation of a VCM may be associated with systems and processes thatcontribute to the operational parameters and the selection ofoperational profile. The operation of a VCM may also be associated withsystems and databases used for financial purpose and businesstransactions. Cost of usage may serve for business transactions such asrental of vehicle, rental of VCMs, service plans, subscription services.Some examples of operational parameters that can be communicated withother systems may be: distance traveled, hours operated, accelerations(max, frequency), all of these provide data that can correlate with VCMwear rates. Operational data may be compared to planned values. Plannedvalues may be part of a business plan defined for the VCM and/or thevehicle, e.g. during purchasing the VCM, renting the VCM,purchasing/subscribing to service plan for the VCM (e.g., VCM-as aservice), and purchasing usage plan. Financial data may relate toinformation used in insurance plan. Insurance plan can be of a VCMand/or a vehicle. Insurance plan cost may be based on historical data ofthe VCM. According to some embodiments, operation of the VCM may becontrolled according to financial data and financial considerations. Insome embodiments, performance (operational profile) of the VCM isselected as a dependency of selected plan. In some embodiments,performance (operational profile) of the VCM is selected as a dependencyof actual VCM data with respect to a preceding plan. As shown in FIG.13, operation of the VCM may include the following elements; receivingcorner module (1302), receiving (1302) may be according to a plan setfor the vehicle platform, for operator profile, etc. As describedelsewhere above, the VCM is coupled (1304) to a vehicle platform. Priorto activating (1308) of the VCM there may be a step of receiving (1306)information about operational plan set for the VCM. Setting of the VCMprofile (1310) may be in according to a plan,

Operational data of the VCM may be recorded (1312) to be used by othersystems after outputting (1314) the recorded operation data of the VCM.Other systems, which may be financial system, may receive (1316) theoperational data Received data, can be used for analyzing (1318) usageof data of the VCM, and calculating (1320) financial charges accordingto the analyzed data. Financial charges may be outputted (1322) to VCMholder. In some embodiments, analyzed data may be outputted for updating(1324) the operational plan of the VCM.

As shown in steps 1330 to 1336, the plan can be based on a business planset for the VCM, The operational plan of the VCM may be set (1332),stored (1334) in a database, and outputted (1336) as required to anotherdevice (e.g. external computer, cloud, vehicle platform computing unit,and corner module computing unit).

We now refer to FIGS. 14A-14D, which show examples of wheeled vehicles100 according to embodiments. While only four-wheeled vehicles areillustrated, the embodiments of the invention can be practiced invehicles having a smaller or larger number of wheels. FIGS. 14A and 14Bshow a vehicle 100 having four VCMs 150 installed, i.e., one at eachcorner, and each VCM 150 includes a respective onboard (i.e.,VCM-onboard) VCM-controller 50. The vehicle 100 of FIG. 14A includes acommunications bus 153 that enables electronic communication between thevehicle-onboard vehicle-controller 115 and each one of the fourVCM-controllers 50. The communications arrangements are thus similar tothose shown in FIG. 2D, in which communication between a vehiclecontroller and the respective VCM-controllers is enabled, but directcommunication between and among the VCM-controllers is not enabled bythe communications bus that is shown; in some embodiments thecommunications bus 153 can be expanded to include VCM-VCMcommunications.

The vehicle 100 illustrated in FIG. 14B includes a communications bus154 that connects the VCM-controllers 50 to each other. In someembodiments, as is shown in FIG. 14B, the communications bus 154 canadditionally enable communication between the vehicle-controller 115 andany one or more (or all) of the VCM-controllers 50. An example of acommunications bus 153 or 154 is a multi-master serial bus configured asa controller area network (CAN) bus. In some embodiments (not shown),physically separated and/or assigned, e.g. permanently or temporarilyassigned, communications channels can be implemented between specificendpoints alongside the bus or as extensions of the bus. For example, aVCM controller can be in such ‘direct-channel’ communications withsensors deployed within a respective VCM.

As shown in the examples of FIGS. 14A and 14B, a vehicle 100 can includemultiple pairs of opposing VCMs 150, i.e., opposing wheels. In otherexamples such as those illustrated in FIGS. 14C and 14D, the vehicle 100can include just a single pair of opposing VCMs 150 while other wheelsof the vehicle 100, if any, are implemented in other manners, e.g.,using conventional arrangements for steering, drive, braking and/orsuspensions systems.

We now refer to FIG. 15. A VCM 150 according to embodiments includes aplurality of sub-systems each comprising mechanical and/or electricalcomponents. Each of the sub-systems is in contact with, or connected to,the sub-frame 161 and with a wheel interface 175. The plurality ofsub-systems of each VCM 150 are selected from amongst the following foursub-systems:

-   -   a. Steering sub-system 200, which can include any or all of the        mechanical and/or electrical components required for steering,        i.e., pivoting the wheel of the vehicle around a steering axis,        including, and not exhaustively: a steering motor, a steering        actuator, steering rods, steering system controller or control        unit, steering inverter and wheel-angle sensor. Some components        of the steering sub-system are illustrated in FIGS. 3B and 4A.        In embodiments, the VCM-controller 50 of the VCM 150 receives        steering instructions as electrical (including electronic)        inputs from the vehicle, e.g., from a driver-operated steering        mechanism or an autonomous steering unit, and carries out said        instructions by causing, responsively to said instructions, the        motion of a steering rod, e.g., via a steering actuator, to        effect the turning of the wheel, for example, by regulating a        current and voltage transmitted to the steering actuator and/or        transmitting high-level instructions to a steering-system        controller. The steering motor, actuator and/or inverter can        receive electrical power from an external power source        (‘external’ meaning external to the VCM), such as a battery pack        installed in the chassis of the vehicle, or from a power source        associated with a testing set-up, e.g., the testing apparatus of        FIG. 21. The steering system controller, where applicable can        receive power either from a power source 59 (shown in FIG. 17A)        of the VCM-controller 50 or from the abovementioned external        power source.    -   b. Drive system 180, which can include any or all of the        mechanical and/or electrical components required for actuating a        drive shaft to rotate the wheel of the vehicle to drive the        vehicle, including, and not exhaustively: an electric drive        motor, a driveshaft turned by the motor, and gearing assemblies        to transmit the rotation to the wheel including, optionally, a        single-hear or multi-gear transmission, as well as sensors such        as a wheel speed sensor (in a non-limiting example, a rotary        encoder). Some components of the drive system are illustrated in        FIGS. 3A, 3E, 3F, 4A and 4B. In some embodiments, the drive        motor is included in the VCM, and in some embodiments, the drive        motor is on the vehicle, e.g., installed on the chassis. In        embodiments, the VCM controller 50 of the VCM 150 is configured        to regulate an output of the motor and/or a rotational velocity        of the wheel and/or a selection of a transmission gear, in        response to instructions received via electrical inputs from the        vehicle , e.g., from a driver-operated drive mechanism (e.g. an        accelerator pedal) or an autonomous driving unit. In        embodiments, the instructions include, for example, a current        and a voltage for actuating the electric drive motor. In        embodiments, the drive sub-system 180 can be used in a        regenerative braking scheme in which the drive motor acts as a        generator of electricity when the vehicle slows. Storage of the        recuperated electricity can be in a vehicle-onboard energy        storage device. In an example, a driver removes a foot from the        accelerator pedal (or an autonomous drive system stops powering        the drive wheels), and from that point the regenerative braking        scheme begins to recuperate electrical energy generated by the        slowing of the vehicle, i.e., as the turning of the generator        translated via the drivetrain to a mechanical resistance force.        In another example, the regenerative braking is boosted by        friction braking, i.e., regular operation of the braking system        176, in response to the driver depressing the brake pedal (or        receiving a brake-actuation instruction from an autonomous drive        computer). In such an example, part of the energy used to brake        the vehicle is lost to heat in the ‘regular’ friction braking        arrangement, and at least a part of the energy is recaptured as        stored electrical energy. In embodiments, ‘cooperation’ of the        drive system 180 and the braking sub-system 176 in combining        regenerative braking with friction braking can be controlled by        the VCM-controller 50. In yet another example, in which the        VCM-controller is configured (e.g., programmed) to control        multiple sub-systems in cooperation with each other, the        steering sub-system 200 can be used to assist in braking, i.e.,        in cooperation with the braking system, for example by turning        the wheels so as to increase friction with a roadway, whether by        steering symmetrically by having the opposing wheels turn in the        same direction in tandem, or asymmetrically where the opposing        wheels do not turn in tandem. In a similar example, the        VCM-controller controls the steering sub-system 200 in concert        with the braking system to mitigate the effect of brake pull        caused by steering, a phenomenon also known as ‘brake steer’ or        ‘steering drift’. In yet another example, the VCM-controller        controls, in concert, the drive system (with respect to        regenerative braking), the braking system (with respect to        friction braking) and the steering system (with respect to        ‘braking-by-steering’) to achieve a desired braking effect.    -   c. Braking system 176, which can include any or all of the        mechanical and electrical components for actuating a brake        assembly (e.g., brake disk, brake caliper, etc.) including,        optionally, one or more of a VCM-onboard hydraulic system, a        VCM-onboard vacuum-boost system, or a hybrid brake-assist system        incorporating a pressurized-gas accumulator and brake actuator.        Some components of the braking system are illustrated in FIGS.        3C, 3G and 4C. In embodiments, the VCM controller 50 of the VCM        150 is configured to regulate an output of the braking system,        e.g., cause a braking action, in response to instructions        received via electrical inputs from the vehicle , e.g., from a        driver-operated braking mechanism (e.g. a brake pedal) or an        autonomous braking unit.    -   d. Suspension system 240, which can optionally include an active        suspension system controllable by the VCM-controller 50 (e.g.,        via a suspension-system control unit) of the VCM 150. Some        components of an active suspensions system, including a spring        damper, a movement sensor and a control unit, are illustrated in        FIG. 4B.

In some embodiments, the plurality of VCM sub-systems in any given VCM150 includes all of the four sub-systems of paragraphs a.-d. In otherembodiments, the plurality of VCM sub-systems in a given VCM 150 or ineach VCM 150 of a given pair of opposing VCMs 150 can include a selectedtwo sub-systems or a selected three sub-systems. In FIG. 16A forexample, an illustrative VCM 150 _(RF) for installation as a right-frontVCM 150 in a vehicle, includes a steering sub-system 200, a brakingsub-system 176, and an active suspension system 240. In FIG. 16B forexample, an illustrative VCM 150 _(RR) for installation as a right-rearVCM 150 in a vehicle, includes a drive sub-system 180 and a brakingsub-system 176. In both examples, the included subsystems can bearranged such that they are entirely included in/on the VCM, in that allof the mechanical and electrical components necessary for respectivefunctions can be onboard the VCM 150, with electrical transmission andcommunications arrangements passing from the vehicle to theVCM-controller and/or to the respective sub-systems (e.g., to theircontrollers, motors and/or actuators). The passing of electricaltransmission and communications arrangements can be via the sub-frame161 which is mounted to the ‘host’ vehicle.

Referring now to FIG. 17A, a VCM-controller 50 according to embodimentsis illustrated schematically to show selected components. The exemplaryVCM-controller 50 of FIG. 17A includes one or more computer processors55, a computer-readable storage medium 58, a communications module 57,and a power source 59. The computer-readable storage medium 58 caninclude transient and/or transient storage, and can include one or morestorage units, all in accordance with desired functionality and designchoices. In embodiments, the storage 58 can be used for any one or moreof: storing program instructions, in firmware and/or software, forexecution by the one or more processors 55 of the VCM-controller 50; andhistorical operating data and/or maintenance data and/or ownership datarelating to the VCM and/or any one or more of its sub-systems and theircomponents. The communications module 59 is configured to establishcommunications links with a vehicle-onboard vehicle controller 115 viacommunications arrangements 71, to other VCM controllers 50 e.g., VCMcontrollers 50 of VCMs 150 of the same vehicle 100, via communicationsarrangements 72, to an external computer 75 via communicationsarrangements 74 to VCM subsystems 200, 180, 176, 240, including torespective sub-system control units via communications arrangements 70,and to sensors 155 e.g., sensors 155 located in/on the VCM 150, viacommunications arrangements 73. In embodiments, not every VCM-controller50 includes all of the components shown in FIG. 17A.

The external computer 75 can be, for example, the testing computer 13shown in FIG. 21, or an external computer hosting a permission system orother financial/administrative system. A ‘permission system’ in anexternal computer 75 can be provided, for example, and not exhaustively:to approve a replacement of a VCM by another VCM; to initiate or performa financial operation related to a servicing or replacement of a VCM,such as recording a charge or processing a payment; to record operatingdata and maintenance data, including operating history and maintenancehistory, of a VCM; and/or to give permission for a servicing orreplacement of a VCM based on a financial operation and/or asubscription-type service or lease arrangement which includes servicingand/or replacement of a VCM either as part of the service or arrangementor at an additional charge, e.g., according to a set tariff or adiscount related to the service or arrangement.

The storage medium 58 of the exemplary VCM controller 50 is shown inFIG. 17B to include program instructions 60 related to installing a VCM150 on a vehicle 100, for example at a service station, e.g., theservice station 110 of FIG. 1D or the service station of FIG. 12C, atwhich service station a VCM can be replaced by another. In theillustrated example of FIG. 17B, the program instructions 60 include twogroups of program instructions GPI01, GPIO2 for execution by the one ormore processors 55 of the VCM-controller 50:

-   -   Program Instructions GPIO1 for establishing (by the        VCM-controller 50) a communications link with the        vehicle-controller 115. The establishing includes electronically        transferring information about the VCM 150 from the        VCM-controller to the vehicle-controller. In some embodiments,        the communication link with the vehicle-controller 115 is a        two-way link, and the establishing of the communication link        additionally includes receiving information about the vehicle        100, and/or about another VCM 150 installed on the vehicle 100.        The information about the vehicle 100, and/or about the other        VCM 150 installed on the vehicle 100 can include, for example,        operating and maintenance data and/or history of the vehicle        100, and/or of the other VCM 150. In some embodiments, the        information about the VCM 150 transferred from the        VCM-controller 50 to the vehicle-controller 115 includes        information about at least one of the plurality of subsystems,        and/or includes results of a self-diagnostic test carried out        before the installation. The plurality of subsystems can include        two, three, or four sub-subsystems selected from VCM subsystems        200, 180, 176, 240. In some embodiments, the establishing of the        communication link with the vehicle-controller 115 is before the        installation of the replacement VCM on the vehicle 100—in other        words, the communication link is established while the        replacement VCM (or, in some embodiments, the potential        replacement VCM) is not connected to or mounted on the vehicle.        Such a communication link with a vehicle-controller may be        established, for example, while the replacement VCM is still in        a storage area of a service station, or, alternatively, already        selected for use with the vehicle and removed from the storage        area. In some embodiments, a failure to establish a        communications link can be a reason to disqualify a given VCM        for installation on the vehicle, or at least delay the        installation until the reason for failing to establish the        communications link can be ascertained. Similarly, a        communications link may be successfully established but        information transferred from the VCM-controller to the        vehicle-controller (or vice versa) may cancel or delay        installation of the given VCM on the vehicle. In an example, the        VCM-controller transfers information about a component        specification, operating history or maintenance history that        causes the vehicle-controller to determine that the given VCM        should not be installed. In embodiments, the pre-installation        exchange of information can include checking compatibility of        the VCM with other VCMs already installed on the vehicle—for        example, checking whether they have the same type and version of        a given sub-system, or of any given item of hardware or software        on the replacement VCM. In another example, a number of        different replacement VCMs can establish respective        communications links with the vehicle-controller so that the        vehicle-controller can ‘select’ the most compatible VCM in        storage at a service-station location, or alternatively, can ‘go        shopping’ for a VCM with the most favorable financial conditions        attached to its potential installation (including, for example,        determining whether a given VCM is enrolled in a subscription        service or leasing arrangement, or perhaps set aside for premium        customers which will pay the owner or provider of the VCM more        money).    -   Program Instructions GPIO2 for performing, in response to an        installation of the VCM 150 on a vehicle, a post-installation        validation-process that includes validating the plurality of        subsystems (which are selected from VCM subsystems 200, 180,        176, 240) and communicating a result of the validating to the        vehicle-controller 115. In some embodiments, validating the        plurality of subsystems includes receiving information from one        or more sensors 155 onboard the VCM 150 . In some embodiments,        post-installation operation of the vehicle 100 is contingent        upon receiving a positive validation-process result, and failure        to complete the validation process can mean that the vehicle is        disabled from driving until the failure is resolved.

In various embodiments, as illustrated in FIG. 17C, the programinstructions 60 stored in storage medium 58 of the exemplary VCMcontroller 50 can additionally include any one or more, or all, ofadditional groups of program instructions GPI11, GPI12, GPI13 forexecution by the one or more processors 55 of the VCM-controller 50:

-   -   Program Instructions GPI11 for regulating, i.e., controlling        actuation of at least one sub-system of the plurality of        sub-systems, in response to incoming electrical signals received        from outside the VCM.    -   Program Instructions GPI12 for exchanging information (by the        VCM-controller 50) with a VCM-onboard VCM-controller 50 of        another VCM 150 installed on the vehicle 100.    -   Program Instructions GPI13 for determining an operating profile        for the VCM 150 based on data received from the        vehicle-controller 115. An operating profile can include        profiles, i.e., physical, mechanical, electrical and/or        operating data of any one or more of the VCM sub-systems 200,        180, 176, 240 of the second VCM. In non-limiting examples, the        operating profile can include: a braking profile based on the        design and/or operating history of the braking sub-system 176 of        the second VCM 150; a dynamic-response profile of a motor and        transmission based on the design and/or operating history of the        drive sub-system 180 of the second VCM 150; a steering profile        based on the design and/or operating history of the steering        sub-system 176 of the second VCM 150; and a suspension-dampening        profile based on the design and/or operating history of the        suspension sub-system 240 of the second VCM 150.

Referring now to FIG. 18, a method is disclosed for operating a vehicle100, e.g., any of the vehicles 100 illustrated and described hereinaboveand incorporating a communications bus (e.g., communications bus 153 ofFIG. 14A or communications bus 154 of FIG. 14B), and at least one pairof opposing VCMs 150 having respective VCM-controllers 50 according toany one or more of the embodiments disclosed herein. As illustrated bythe flow chart in FIG. 18, the method comprises:

-   -   Step S01 controlling, by a VCM-controller 150, actuation of one        or more sub-systems of the plurality of VCM subsystems of a VCM        (which are selected from VCM subsystems 200, 180, 176, 240), in        response to an incoming electrical input from outside the VCM        150.

Referring now to FIG. 19A, a method is disclosed for replacing a firstvehicle corner module (VCM) with a second VCM. The skilled artisan willunderstand that a method for replacing a VCM with a second VCM isapplicable, mutatis mutandis, to re-installing a VCM dismounted from avehicle, e.g., for servicing. Thus, the concept of “replacing by asecond VCM” both in the present disclosure and in the claims appendedthereto, should be understood to include examples in which the first VCMand the second VCM are the same VCM, and such examples are wholly withinthe scope of the invention.

According to the method illustrated in FIG. 19A, at least the second VCM(and optionally the first/replaced VCM) is a VCM 150 according to anyone or more of the embodiments disclosed herein and comprises asub-frame 161 mountable to the reference frame of the vehicle 100, awheel-hub assembly 174 (illustrated in FIGS. 16A-16B), a VCM-onboardVCM-controller, and a plurality of subsystems mediating between thesub-frame 161 and the wheel-hub assembly 174 and selected from VCMsubsystems 200, 180, 176, 240. As illustrated by the flow chart in FIG.19A, the method comprises:

-   -   Step S11 establishing an electronic communication link between        the respective VCM-controller 50 of the second VCM 150 and a        vehicle-onboard vehicle-controller 115—including transferring        information about the second VCM 150 from the respective        VCM-controller 50 (of the second VCM 150) to the        vehicle-controller 115. In some embodiments, the electronic        communication link with the vehicle-controller 115 is a two-way        link, and the establishing of the electronic communication link        additionally includes receiving information about the vehicle        100, and/or about another VCM 150 installed on the vehicle. In        some embodiments, the vehicle-controller 115 can send a query to        the VCM-controller 50 of the second VCM 150, and at least a        portion of the information about the second VCM 150 transferred        from the respective VCM-controller 50 to the vehicle-controller        115 may include a response to the query received from the        vehicle controller 115. In some embodiments, the information        about the second VCM 150 includes results of a self-diagnostic        test carried out, e.g., by the second VCM 150 itself, or by a        testing apparatus such as the testing apparatus 10 of FIG. 21,        before the installation. In some embodiments, the information        about the second VCM 150 includes at least one of operating        history and maintenance history of the second VCM 150. In some        embodiments, the electronic communication link between the        respective VCM-controller 50 of the second VCM 150 and the        vehicle-onboard vehicle-controller 115 is established before the        installation of the second VCM 150—in other words, the        communication link is established while the replacement VCM (or,        in some embodiments, the potential replacement VCM) is not        connected to or mounted on the vehicle. Such a communication        link with a vehicle-controller may be established, for example,        while the replacement VCM is still in a storage area of a        service station, or, alternatively, already selected for use        with the vehicle and removed from the storage area. In some        embodiments, a failure to establish a communications link can be        a reason to disqualify a given VCM for installation on the        vehicle, or at least delay the installation until the reason for        failing to establish the communications link can be ascertained.        Similarly, a communications link may be successfully established        but information transferred from the VCM-controller to the        vehicle-controller (or vice versa) may cancel or delay        installation of the given VCM on the vehicle. In an example, the        VCM-controller transfers information about a component        specification, operating history or maintenance history that        causes the vehicle-controller to determine that the given VCM        should not be installed. In embodiments, the pre-installation        exchange of information can include checking compatibility of        the VCM with other VCMs already installed on the vehicle—for        example, checking whether they have the same type and version of        a given sub-system, or of any given item of hardware or software        on the replacement VCM. In another example, a number of        different replacement VCMs can establish respective        communications links with the vehicle-controller so that the        vehicle-controller can ‘select’ the most compatible VCM in        storage at a service-station location, or alternatively, can ‘go        shopping’ for a VCM with the most favorable financial conditions        attached to its potential installation (including, for example,        determining whether a given VCM is enrolled in a subscription        service or leasing arrangement, or perhaps set aside for premium        customers which will pay the owner or provider of the VCM more        money).    -   Step S12 completing, in response to and contingent upon an        installation of the second VCM 150 on the vehicle 100, a        post-installation validation—including validating the respective        plurality of subsystems of the second VCM 150 and communicating        a result of the validation to the vehicle-controller 115.    -   Step S13 using the result of the validation, communicated to the        vehicle controller in Step S12, to enable or disable operation        of the vehicle after the installation of the second using the        communicated result of the validation to enable or disable        operation of the vehicle 100 after installation of the second        VCM 150. In some embodiments, the validating of the plurality of        subsystems includes receiving information from one or more        sensors 155 onboard the second VCM 150, such as, without        limitation and not exhaustively, a suspension-travel sensor, a        wheel-angle sensor, a wheel-speed sensor, or a sensor of a        hydraulic braking system such as a pressure sensor or a level        sensor.

In some embodiments, the method includes an additional step S14, asillustrated in the flowchart of FIG. 19B:

-   -   Step S14: transmitting, to a permission system in an external        computer, information about the replacing of the first VCM with        the second VCM. In embodiments, the information transmitted to        the permission system includes at least two of: respective        identifying information of the first and second VCMs; usage        information of one or more of the respective plurality of        subsystems of the first VCM; and maintenance information of one        or more of the respective plurality of subsystems of the first        VCM. In some embodiments, a value is assigned to the replacing        or, equivalently, a servicing) based on at least one of: usage        information of one or more of the respective plurality of        subsystems of the first VCM; usage information of one or more of        the respective plurality of subsystems of the second VCM;        maintenance information of one or more of the respective        plurality of subsystems of the first VCM; and maintenance        information of one or more of the respective plurality of        subsystems of the second VCM

As further illustrated in the flowchart of FIG. 19B, in some embodimentsin which the method includes Step S14, the method additionally includeseither Step S15 a or S15 b:

-   -   Step S15 a : receiving, from the permission model, a permission        based on a service subscription such as, in non-limiting        examples, a leasing arrangement or an annual service contract.    -   Step S15 a : receiving, from the permission model, a permission        based on a transaction such as, in non-limiting examples, a        payment or a credit check.

In some embodiments, both Steps S15 a and S15 b are included in themethod; in an illustrative example, a leasing arrangement provides forservicing and/or replacing of the VCM at a predetermined tariff price orat a discounted price, e.g., based on a percentage discount.

In some embodiments, the method includes an additional step S16, asillustrated in the flowchart of FIG. 19C:

-   -   Step S16: determining an operating profile for the second VCM        based on information received from the vehicle-controller. An        operating profile can include profiles, i.e., physical,        mechanical, electrical and/or operating data of any one or more        of the VCM sub-systems 200, 180, 176, 240 of the second VCM. In        non-limiting examples, the operating profile can include: a        braking profile based on the design and/or operating history of        the braking sub-system 176 of the second VCM 150; a        dynamic-response profile of a motor and transmission based on        the design and/or operating history of the drive sub-system 180        of the second VCM 150; a steering profile based on the design        and/or operating history of the steering sub-system 176 of the        second VCM 150; and a suspension-dampening profile based on the        design and/or operating history of the suspension sub-system 240        of the second VCM 150.

Referring now to FIG. 20, a second method is disclosed for replacing afirst vehicle corner module (VCM) with a second VCM (or, equivalently,re-installing a VCM dismounted from a vehicle, e.g., for servicing).According to the method illustrated in FIG. 20, at least the second VCM(and optionally the first/replaced VCM) is a VCM 150 according to anyone or more of the embodiments disclosed herein and comprises asub-frame 161 mountable to the reference frame of the vehicle 100, awheel-hub assembly 174 (illustrated in FIGS. 16A-16B), a VCM-onboardVCM-controller, and a plurality of subsystems mediating between thesub-frame 161 and the wheel-hub assembly 174 and selected from VCMsubsystems 200, 180, 176, 240. As illustrated by the flow chart in FIG.20, the method comprises:

-   -   Step S21: establishing an electronic communication link between        the respective VCM-controller 50 of the second VCM 150 and a        vehicle-controller 115 onboard the host vehicle 100. In some        embodiments, the communication link is established before the        replacement/serviced VCM 150 is mounted to the host vehicle 100.    -   Step S22: transferring information about the second VCM 150 from        the respective VCM-controller 50 of the second VCM 150 to the        vehicle-controller 115. In some embodiments, the transferred        information includes results of validating the plurality of        sub-systems by the VCM-controller 50. In some embodiments,        operation of the host vehicle 100 after the replacement/serviced        VCM 150 is mounted thereto is contingent upon receiving a        positive validation-process result from the VCM-controller 50.

We now refer to FIG. 21, a schematic illustration of a testing apparatus10 which includes a support element 15 for a dismounted VCM 150. Asupport element 15 can be designed to support some or all of the weightof the VCM, or some or all of the weight of the sub-frame 161, or any orall of the VCM subsystems 200, 180, 176, 240 or components thereof. Insome embodiments, there can be multiple support elements 15, e.g., tosupport different components or sub-systems. In some examples, thetesting apparatus 10 can include a fixed installation at which adismounted (or, in some cases, mounted) VCM 150 can be tested, and inother examples, the testing apparatus 10 can include a storage containerfor storing and/or transporting a VCM 150. The testing apparatus caninclude testing sensors 14, a diagnostic device 12, and a testingcomputer 13. An example of a diagnostic device 12 in afixed-installation testing apparatus is a chassis dynamometer. In anembodiment, a VCM-controller 50 transmits results of a self-diagnostictest performed using a testing apparatus 10 to a vehicle controller 115before or during installation of a VCM 150 on the vehicle 100. Inanother example, such a test can be performed without a testingapparatus 10, for example while the VCM is being stored in a facility orcontainer that is not equipped with some or all of said components ofthe testing apparatus 10. In another example, the VCM-controller 50transmits results of a self-diagnostic test performed using a testingapparatus 10 after receiving the results from the testing apparatus 10.In some embodiments, the vehicle-controller 115 can receive results of aself-diagnostic test for the VCM 150 directly from the test assembly 10where the test was performed.

Additional Discussion of Inventive Concepts

Inventive Concept 1: A vehicle corner module (VCM) system, comprising: asub-frame of interfacing between the VCM and a vehicle platform; a wheelinterface for coupling a wheel to the VCM; one or more of VCM modules,which include mechanical assemblies and electrical units for operating awheel when assembled on the vehicle; and one or more electricalinterfaces for exchanging signals and data between the VCM modules andthe vehicle platform.

Inventive Concept 2: A vehicle corner module (VCM) system according toInventive Concept 1, comprising: one or more sensors for measuringoperational data of the one or more VCM modules; a VCM controller inelectrical connection with the one or more electrical interfaces and theone or more electrical units of the VCM modules.

Inventive Concept 3: A vehicle corner module (VCM) system according toeither one of Inventive Concepts 1 or 2, wherein the VCM modulescomprise one or more of: a suspension module, a wheel driving module, asteering module, and a control module, and the wheel driving modulecomprises one or more of: an electric motor unit, a transmission unit,and a braking unit.

Inventive Concept 4: A VCM system according to any one of InventiveConcepts 1 to 3, wherein one or more VCM modules are located between thewheel interface and the sub-frame.

Inventive Concept 5: A VCM system, according to any one of InventiveConcepts 1 to 4, wherein: the one or more electrical units comprise aVCM module controller; and the VCM module controller comprisesintegrated circuits having hardware and software that control two ormore VCM modules.

Inventive Concept 6: A vehicle having one or more of the VCMs ofInventive Concepts 1 to 5.

Inventive Concept 7: A vehicle according to Inventive Concept 6,comprising a VCM control unit (CSCU); and a platform-VCM bus forcommunication between the vehicle and one or more of electrical circuitslocated in the VCMs.

Inventive Concept 8: A vehicle according to Inventive Concept 7, whereinthe VCMs are in direct electrical communication, such that data can beexchanged between the VCMs bypassing the CSCU.

Inventive Concept 9: A method of activating a VCM, comprising: mountingthe VCM on a vehicle platform; setting a VCM operational profile; andactivating the VCM to be operational with the VCM operational profile.

Inventive Concept 10: A method according to Inventive Concept 9,comprising: matching between operational profiles of the VCM and thevehicle platform; and the setting of a VCM operational profile is to amatching operational profile of the VCM.

Inventive Concept 11: A method according to either one of InventiveConcept 9 or 10, comprising: matching between operational profiles ofthe VCM and the operational profiles of other VCMs coupled to thevehicle platform; and setting the operational profile of one or more ofthe VCMs coupled to the vehicle platform in accordance to the matchingbetween operational profiles of the one or more of the VCMs.

Inventive Concept 12: A method according to any one of Inventive Concept9 to 11, comprising: receiving an operational plan defined for the VCM;and setting a VCM operational profile according to the operational plan.

Inventive Concept 13. A method according to any one of Inventive Concept9 to 12, comprising: recording operational data of the VCM; andoutputting operational data to a computing system external to the VCM.

Inventive Concept 14. A method of servicing a vehicle having one or morevehicle corner modules (VCMs), comprising: receiving an indication thatservicing of a system located in the VCM is required; halting theoperation of the vehicle; de-coupling the VCM from the vehicle; mountinga substituting VCM to the vehicle; and resuming the operation of thevehicle.

The present invention has been described using detailed descriptions ofembodiments thereof that are provided by way of example and are notintended to limit the scope of the invention. The described embodimentscomprise different features, not all of which are required in allembodiments of the invention. Some embodiments of the present inventionutilize only some of the features or possible combinations of thefeatures. Variations of embodiments of the present invention that aredescribed and embodiments of the present invention comprising differentcombinations of features noted in the described embodiments will occurto persons skilled in the art to which the invention pertains.

In the description and claims of the present disclosure, each of theverbs, “comprise”, “include” and “have”, and conjugates thereof, areused to indicate that the object or objects of the verb are notnecessarily a complete listing of members, components, elements or partsof the subject or subjects of the verb. As used herein, the singularform “a”, “an” and “the” include plural references unless the contextclearly dictates otherwise. For example, the term “a marking” or “atleast one marking” may include a plurality of markings.

1. A method of replacing a first vehicle corner module (VCM) with asecond VCM, each of the first and second VCMs comprising a sub-framemountable to a reference frame of a vehicle, a wheel-hub assembly, aVCM-onboard VCM-controller, and a plurality of subsystems mediatingbetween the sub-frame and the wheel-hub assembly and selected from thegroup of subsystems consisting of a drive subsystem, a steeringsubsystem, a suspension subsystem and a braking subsystem, the methodcomprising the following steps: a. establishing an electroniccommunication link between the respective VCM-controller of the secondVCM and a vehicle-onboard vehicle-controller, wherein the establishingincludes transferring information about the second VCM from therespective VCM-controller to the vehicle-controller; b. in response toand contingent upon an installation of the second VCM on the vehicle,completing a post-installation validation that includes validating therespective plurality of subsystems of the second VCM and communicating aresult of the validation to the vehicle-controller; and c. using thecommunicated result of the validation to enable or disablepost-installation operation of the vehicle.
 2. The method of claim 1,additionally comprising the step of transmitting, to a permission systemin an external computer, information about the replacing of the firstVCM with the second VCM.
 3. The method of claim 1, wherein theinformation transmitted to the permission system includes at least twoof: respective identifying information of the first and second VCMs;usage information of one or more of the respective plurality ofsubsystems of the first VCM; and maintenance information of one or moreof the respective plurality of subsystems of the first VCM.
 4. Themethod of claim 1, wherein the electronic communication link between therespective VCM-controller of the second VCM and the vehicle-onboardvehicle-controller is established before the installation.
 5. A methodof replacing a first vehicle corner module (VCM) of a host vehicle witha second VCM, each of the first and second VCMs comprising (i) pluralityof mechanical subsystems residing entirely on board the VCM to mediatebetween the sub-frame and the wheel-hub assembly, the subsystemsselected from the group of subsystems consisting of a drive subsystem, asteering subsystem, a suspension subsystem and a braking subsystem, and(ii) a VCM-onboard VCM-controller for actuating, in response to incomingelectrical signals received from outside the VCM, the plurality ofmechanical sub-systems, the method comprising: a. establishing anelectronic communication link between the respective VCM-controller ofthe second VCM and a vehicle-controller onboard the host vehicle; and b.transferring information about the second VCM from the respectiveVCM-controller to the vehicle-controller.
 6. The method of claim 5,wherein the communication link is established before the VCM is mountedto the host vehicle.
 7. A vehicle comprising: a. A vehicle-onboardvehicle-controller; b. one or more pairs of opposing vehicle cornermodules (VCMs), each VCM comprising a sub-frame mounted to a referenceframe of the vehicle, a wheel-hub assembly, a VCM-onboardVCM-controller, a plurality of subsystems mediating between thesub-frame and the wheel-hub assembly and selected from the group ofsubsystems consisting of a drive subsystem, a steering subsystem, asuspension subsystem and a braking subsystem; and c. communicationsarrangements enabling peer-to-peer data communications betweenrespective VCM-controllers of at least one pair of the one or more pairsof opposing VCMs, the respective VCM-controllers being configured toexchange information therebetween.
 8. The vehicle of claim 7, whereinthe exchanged information includes at least one of operating history andan operating profile of a new or replaced VCM.
 9. The vehicle of claim7, wherein the VCM-controllers are configured to provide an operationalbackup functionality, singly or in combination, for anotherVCM-controller.
 10. The vehicle of claim 7, wherein the VCM-controllersare configured to provide an operational backup functionality, singly orin combination, for the vehicle controller.
 11. The vehicle of claim 7,wherein the communications arrangements enable peer-to-peer datacommunications between respective VCM-controllers of all of the VCMs ofthe vehicle.
 12. The vehicle of claim 7, wherein the respective selectedplurality of sub-systems in each VCM of a given pair of opposing VCMscomprises at least three sub-systems.